BatSLAM Core System.

Overview of the core system that makes up the BatSLAM mapping module. Pose cell networks interact with local view cell networks to generate robust position estimates of a mobile agent. Sensor data extracted from the sonar system (indicated by Current Local View Templates) are compared to a database of previously encountered templates. If a template is recognized, the local view cell becomes active, correcting the position estimate in the pose cell network.